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authorNicolas Schodet2013-03-21 00:35:55 +0100
committerNicolas Schodet2013-03-21 00:35:55 +0100
commitc9f14499885b3c087aa5b107156cc91b48917a7c (patch)
tree6748851c34f13f8c70a8edde481ab285f8b52fce /digital/io-hub/src/apbirthday/robot.hh
parent32c28a77698a34f7fb5f0499553db05321afa9b5 (diff)
digital/io-hub/src/apbirthday: add first I2C slave
Diffstat (limited to 'digital/io-hub/src/apbirthday/robot.hh')
-rw-r--r--digital/io-hub/src/apbirthday/robot.hh10
1 files changed, 10 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index d65b2a3a..e0b50f41 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -24,6 +24,7 @@
//
// }}}
#include "hardware.hh"
+#include "asserv.hh"
#include "ucoolib/base/proto/proto.hh"
@@ -31,6 +32,9 @@
class Robot : public ucoo::Proto::Handler
{
public:
+ /// Scaling factor, millimeter per step.
+ static const float scale = 0.0395840674352314;
+ public:
/// Initialise robot singleton.
Robot ();
/// Main program loop.
@@ -43,6 +47,12 @@ class Robot : public ucoo::Proto::Handler
/// Public access to hardware class.
Hardware hardware;
private:
+ /// Main I2C queue.
+ I2cQueue main_i2c_queue_;
+ public:
+ /// Public access to asserv class.
+ Asserv asserv;
+ private:
/// Proto associated to each serial interface.
ucoo::Proto dev_proto, zb_proto, usb_proto;
};